From f566ac2ab7f31f3a330a3c30cfa43b2069ff8f83 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E9=99=8C=E6=AC=A2=E9=86=89?= <264854363@qq.com>
Date: Thu, 4 Jun 2026 15:39:31 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8F=AF=E4=BD=BF=E7=94=A8=E7=9A=84slam?=
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---
 .../launch/gc_nav2_with_slam.launch.py                     | 7 +++++--
 .../params/gc_navigation_slam.yaml                         | 2 +-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
index 3e131a5..964ca70 100644
--- a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
+++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py
@@ -26,6 +26,9 @@ def generate_launch_description():
         pkg_dir, 'params', 'gc_navigation_slam.yaml'))
     slam_params_file = os.path.join(
         pkg_dir, 'config', 'mapper_params_localization.yaml')
+    # slam_toolbox 定位所需的序列化地图
+    posegraph_path = os.path.join(
+        pkg_dir, 'maps', 'my_map.posegraph')
 
     # =============================3.slam_toolbox 定位模式（替代 AMCL）=========================================
     slam_toolbox_node = Node(
@@ -34,8 +37,8 @@ def generate_launch_description():
         name='slam_toolbox',
         output='screen',
         parameters=[slam_params_file,
-                    {'use_sim_time': True}],
-        # 关键：确保 slam_toolbox 作为定位器发布 map->odom 变换
+                    {'use_sim_time': True,
+                     'map_file_name': posegraph_path}],
     )
 
     # =============================4.仅启动 nav2 navigation（不含 localization）=================================
diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
index 80ae804..cb4c1df 100644
--- a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
+++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
@@ -6,7 +6,7 @@ bt_navigator:
   ros__parameters:
     use_sim_time: True
     global_frame: map
-    robot_base_frame: base_link
+    robot_base_frame: base_footprint
     odom_topic: /odom
     bt_loop_duration: 20
     default_server_timeout: 20